CVt

Developing Plugins for JOSM

2013-03-29T17:20:00.001+02:00

This page gives a short introduction for developers how to create, deploy and develop plugins for JOSM. Any Questions left? Ask at the developers mailinglist.

The popularity of programming languages

2013-03-29T16:54:00.002+02:00

The TIOBE Programming Community index is an indicator of the popularity of programming languages. The ratings are based on the number of skilled engineers world-wide, courses and third party vendors. The popular search engines Google, Bing, Yahoo!, Wikipedia, Amazon, YouTube and Baidu are used to calculate the ratings. The index can be used to check whether your programming skills are still up to date or to make a strategic decision about what programming language should be adopted when starting to build a new software system.

Position Mar 2013	Position Mar 2012	Programming Language	Ratings Mar 2013	Delta Mar 2012	Status
1	1	Java	18.156%	+1.05%	A
2	2	C	17.141%	+0.05%	A
3	5	Objective-C	10.230%	+2.49%	A
4	4	C++	9.115%	+1.07%	A
5	3	C#	6.597%	-1.65%	A
6	6	PHP	4.809%	-0.75%	A
7	7	(Visual) Basic	4.607%	+0.24%	A
8	9	Python	4.388%	+1.10%	A
9	13	Ruby	2.150%	+0.74%	A
10	10	Perl	1.959%	-0.74%	A
11	8	JavaScript	1.370%	-2.02%	A
12	48	Bash	1.009%	+0.78%	A-
13	15	Lisp	0.942%	+0.02%	A
14	12	PL/SQL	0.921%	-0.50%	A--
15	11	Delphi/Object Pascal	0.889%	-0.84%	A
16	16	Visual Basic .NET	0.888%	+0.10%	A
17	14	Transact-SQL	0.836%	-0.09%	A-
18	17	Pascal	0.697%	-0.07%	A--
19	21	Lua	0.697%	+0.17%	B
20	26	Assembly	0.633%	+0.21%	B

To see the bigger picture, please find the positions of the top 10 programming languages from 5, 15 and 25 years ago in the table below.

Programming Language	Position Mar 2013	Position Mar 2008	Position Mar 1998	Position Mar 1988
Java	1	1	3	-
C	2	2	1	1
Objective-C	3	45	-	-
C++	4	5	2	6
C#	5	8	-	-
PHP	6	4	-	-
(Visual) Basic	7	3	4	7
Python	8	7	16	-
Ruby	9	11	-	-
Perl	10	6	6	20
Lisp	13	20	11	2
Ada	22	19	10	3

Categories of Programming Languages

In the tables below some long term trends are shown about categories of languages. Object-oriented statically typed languages have been most popular for more than 5 years now.

Category	Ratings Mar 2013	Delta Mar 2012
Object-Oriented Languages	60.4%	+3.0%
Procedural Languages	34.7%	-1.3%
Functional Languages	3.1%	-1.1%
Logical Languages	1.8%	-0.6%

Category	Ratings Mar 2013	Delta Mar 2012
Statically Typed Languages	71.0%	-0.1%
Dynamically Typed Languages	29.0%	+0.1%

Controlling of the car by Kinect.

2012-11-15T15:11:00.001+02:00

OpenCV 2.4.3 released!

2012-11-05T19:01:00.002+02:00

OpenCV 2.4.3 is finally out. It should be the most mature OpenCV to the moment.

The nicely formatted changelog can be seen here; here are the highlights:

Greatly extended GPU (i.e. CUDA-based) module.
The brand new ocl (OpenCL-based) module that unleashes GPU power also for AMD and Intel GPU users. It’s not included into the binary package, since there are different SDKs, and it’s not turned on by default. You need to run CMake and turn on “WITH_OPENCL”. Also, please note that this is very first version of the module, so it may be not very stable and not very functional.
Much better performance on many-core systems out of the box. You do not need TBB anymore on MacOSX, iOS and Windows. BTW, the binary package for Windows is now built without TBB support. Libraries and DLLs for Visual Studio 2010 use the Concurrency framework.
About 130 bugs have been fixed since 2.4.2.

SPECIAL NOTE for Ubuntu x86 12.04 users: By default OpenCV is now built with “-O2″ optimization flag instead of “-O3″ on 32-bit Linux. The compiler in the 32-bit version of Ubuntu 12.04 produces incorrect code with “-O3″, so it’s strongly recommended not to use this flag.

For more information click here.

Augmented reality

2012-09-17T20:15:00.000+03:00

On this video, we have present a program with augmented reality.
It was implemented using the OpenСV functions.
The program receives a video stream from an ordinary web camera and looking at every frame the chessboard pattern(with size = 4 * 5). Then, it is counting the rotation vector and translation vector and adds a 3D model in place of checkerboard pattern.

3d reconstruction

2012-08-13T22:05:00.001+03:00

It's our first programm for 3d reconstruction.For this goal we have Kinect camera.The programm uses algorithm surf for finding the feature points and uses OpenCV cvFindExtrinsicCameraParams function for finding the matrices of rotation and translation .In the video you can see, how creates the point cloud of the real room, using ~20 frames from Kinect

Driving a car

2012-07-28T09:37:00.000+03:00

it works!

Transmission the data to the chip FT232RL (in Linux you don't have to install the driver) takes place through the COM port per protocol MODBUS.
For this purpose we use the library libmodbus.
(libmodbus is a free software library to send / receive data according to the Modbus protocol. This library is written in C and supports RTU (serial) and TCP (Ethernet) communications. For more information look its documentation.)
We tested the 16th feature - write data into a sequence of registers.
Our message consisted of 4 registers:
1st register - the movement of engines (on / off, direction), the other three registers - the power of the engines.

Kinect 3D-Puzzle

2012-06-29T19:23:00.000+03:00

This program allows to restore the 3d model of an object with at least 2 photo of the scene. The location of the each frame is adjusted by these keys:

"q","w","a","s","z","x" - for location editingб shift+"q","w","a","s","z","x" - for editing the rotation angle. To select frame you need to press the key that corresponds its number (from 1 to 9). For the implementation of this project we used the OpenNI library.

Working with Kinect

2012-04-09T22:18:00.001+03:00

During familiarization with the library for working with kinekt we created the program that displays a cloud of points in 3D-space. It's work was organized with the use of two computers. Data with coordinates of points was transferred with using a standard component of Qt - Qsocket.

Also we created the application that allows you to draw by hand movements. The object is drawn at the nearest point found.

CVT Project

2012-02-27T23:08:00.000+02:00

Sparse Bundle Adjustment

2012-02-02T13:14:00.001+02:00

Bundle Adjustmentz (BA) is almost invariably used as the last step of every feature-based multiple view reconstruction vision algorithm to obtain optimal 3D structure and motion (i.e. camera matrix) parameter estimates. Its name refers to the bundles of light rays originating from each 3D feature and converging on each camera's optical center, which are adjusted optimally with respect to both the structure and viewing parameters (similarity in meaning to categorical bundle seems a pure coincidence).
Provided with initial estimates, BA simultaneously refines motion and structure by minimizing the reprojection error between the observed and predicted image points. The minimization is typically carried out with the aid of the Levenberg-Marquardt (LM) algorithm.

Software

sba: A Generic Sparse Bundle Adjustment C/C++ Package Based on the Levenberg–Marquardt Algorithm (C, Matlab)
ssba: Simple Sparse Bundle Adjustment package based on the Levenberg–Marquardt Algorithm (C) with LGPL license.
OpenCv: Computer Vision library in the contrib module.
mcba: Multi-Core Bundle Adjustment (CPU/GPU).
ROS: ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications.

PMDTec's 3D ToF technology for AUDI: Tomorrow’s driver assistance and safety systems

2012-01-18T20:03:00.000+02:00

German car manufacturer Audi AG officially announced, that the company will use PMD’s unique 3D ToF image sensing technology for the realization of future driver assistance and safety systems.

The first application will be automatic full braking in city traffic called pre sense city, which is based on PMD’s innovative, compact, robust and most mature 3D sensor technology, in whose basic development Audi played a significant role over the last years.

"Automatic full braking

Many Audi vehicles can already brake automatically the last few meters before an impending collision if the driver himself is no longer capable of intervening. Audi is developing this function further, both for the city (pre sense city) and for interurban traffic.

pre sense city

Automatic full braking in city traffic is based on an innovative compact sensor technology, in whose basic development Audi played a significant role some years ago.The PMD sensor (PMD = photonic mixing device) is a small chip that can measure distances in three dimensions with greater precision than conventional sensor systems.

Active emergency braking
Audi is developing another version of the pre sense system for automatic full braking at speeds above 65 km/h (40.39 mph). Its centerpiece is a laser scanner offering the advantages of even greater range, a wide field of view and greater precision.

The laser uses its wide field of view to also scan the areas to the front and side of the vehicles, and can thus also detect buildings and other development on the side of the ride. If there is an obstacle in front of the vehicle, such as the end of a traffic jam, the system can assess whether the driver can still take evasive action."

For the full AUDI news click here.

Git repository ^_^

2011-12-16T13:25:00.000+02:00

YAHOO! We have Git repository at code.google. This project consists of three branch: debugger, library, logger and release - master. Each developer from team push his commits to some branch. And when we want tar realese - merge all branches => Master.
Everybody can folow the development of the project.

Link to the our project: CV-T-PRO

Useful link

2011-12-09T13:09:00.001+02:00

Here is a useful link to publications of the Visual Geometry Group (the part of Robotics Research Group in the Department of Engineering Science, University of Oxford): VGG publications

Searching of erroneous correspondences of key points

2011-12-05T14:04:00.000+02:00

We implemented two algorithms which searches erroneous correspondences of key points.

The 1^st algorithm.

Key points are grouped using the recursive algorithm breadth-first search. Then for every group calculated average slope angle of the vector points and the average length of a vector. Vectors, whose parameters differ significantly from the average parameters identifies as erroneous.

This algorithm is invariant to rotation and scaling.

Symbols in images:

The 2^nd algorithm.

Pic. 1. Pairs of key points before using the algorithm (yellow rectangles the area that was analyzed on pic. 2).

Pic. 2. Displacement vectors of key points in selected area.

Pic. 3. Pairs of key points after using the second algorithm.

Cvt Debuger 1.1.3

2011-11-28T11:36:00.001+02:00

Hi
We have news about cvt debuger:

Fixed known bugs.

2. Fluid Layout Widgets

3. Added the ability to capture video from connected cameras

4. Added a widget for changing speed video

In the next release:

Include vision library.
Create a widgets for configuration vision library.

~fix opencv_2 bug with playing video.

Asus, PrimeSense Reveals Motion Sensing for PC

2011-11-17T18:30:00.002+02:00

It's a Kinect-like device for the PC, however it's by ASUS and called WAVI Xtion.

Both ASUS and PrimeSense announced a joint project that will bring motion sensing controls to the PC, thus possibly debunking any rumors that Microsoft will eventually bring Windows-based support for the Xbox 360's Kinect motion sensing device.

According to both companies, the WAVI Xtion for the PC will utilize PrimeSense's core 3D sensing solution already licensed by Microsoft for Kinect. The difference will be that the PC-oriented device will be developed primarily for browsing multimedia content, accessing Web sites and social networks when the PC is hooked up to the living room TV.

"ASUS combines its wireless cross-room solution with PrimeSense's simple, intuitive, gesture-based control technology to allow users to enjoy and share PC content on TV with gestures," said Kent Chien, General Manager, ASUS. "WAVI Xtion is the unprecedented living room experience that will revolutionize users' recreational lives. Natural Interaction's appeal to consumers means more monetization opportunities based on personalization, various branding and advertising programs inside applications."

The WAVI Xtion:

-The cost of the device is $ 220, but if the user needs not only the ability to play media (including video as a FullHD), then he will have to part with almost twice the amount ($ 400). In this case, he will receive a system consisting of a transmitter and a camera.

-Xtion PRO

Use Xtion PRO developer solution to make motion-sensing applications and games

1. The world’s first and exclusive professional PC motion sensing software development solution

2. OPNI NITE middleware compatible SDK makes the motion-sensing applications and games development easily

3. Easily selling developer’s applications on the upcoming ASUS@vibe online entertainment content store

-The ZCam's time-of-flight camera system features a near-infrared (NIR) pulse illumination component, as well as an image sensor with a fast gating mechanism.

The Kinect:

-The retail price of the Kinect is $149.99 (it costs only $56 to produce).

-Microsoft released the SDK(software development kit) for non-commercial use earlier this year at the Consumer Electronics Show in Las Vegas, Nev. The SDK is available for download now at Microsoft’s research website.

-The Kinect is based on software technology developed internally by Rare, a subsidiary of Microsoft Game Studios owned by Microsoft, and on range camera technology by Israeli developer PrimeSense.

ZCam

2011-11-17T18:17:00.005+02:00

ZCam is a brand of time-of-flight camera products for video applications by Israeli developer 3DV Systems. The ZCam supplements full-color video camera imaging with real-time range imaginginformation, allowing for the capture of video in 3D.

The original ZCam, released in 2000, was an ENG video camera add-on used for digital video compositing. Before agreeing in March 2009 to sell its assets to Microsoft, 3DV had planned to release a ranging video webcam (previously called the Z-Sense), also under the name ZCam. The ZCam webcam was one of several competing real-time range imaging camera products in development that target home game controller applications.

Technology.

The ZCam's time-of-flight camera system features a near-infrared (NIR) pulse illumination component, as well as an image sensor with a fast gating mechanism. Based on the known speed of light, ZCam coordinates the timing of NIR pulse wave emissions from the illuminator with the gating of the image sensor, so that the signal reflected from within a desired depth range is captured exclusively. The amount of pulse signal collected for each pixel corresponds to where within the depth range the pulse was reflected from, and can thus be used to calculate the distance to a corresponding point on the captured subject.

Due to the fast timing required for light-based time-of-flight, the ZCam uses custom hardware for illumination and gating. The illuminator is a series of NIR laser diodes around the lens barrel, switched by special high-speed driver circuits that produce pulses with a rise time and fall time of less than one nanosecond. Previously using an image intensifier for gating the image sensor, 3DV later developed a special solid-state image shutter, in the form of a gallium arsenide-based electro-optical chip that is mounted atop the image sensor. The company was reportedly developing a gating solution based on less-expensive CMOS-process fabrication.

The depth map

The time-of-flight camera is optically matched with a corresponding video camera, allowing the RGB video and range imaging to integrated together. 3DV refers to the combination as "RGBD," in which "D" refers to a "depth" or "distance" channel.

Microsoft uses the ZCam technology for a motion-sensing controller system for the Xbox 360 video game console or its successor. This speculation increased in the month leading up to Microsoft's announcement of the Kinect 3D depth-sensing device at the 2009 Electronic Entertainment Expo, during which leaked information about that device prompted frequent comparisons with the ZCam.

OpenCV Camera Calibration

2011-11-17T17:42:00.003+02:00

Camera calibration is important for any image processing to be a highly accurate representation of the real world. "Geometric entities of the camera, such as the projection centre and image plane, can be computed quite simply from its matrix representation. Specializations of the general projective camera inherit its properties, for example their geometry is computed using the same algebraic expressions."

This algorithm show how to extract the relevant camera parameters from a sequence of images with using of OpenCV library. For this example you will need to print out this image as a full page:

Example Checkerboard

We use cvFindChessboardCorners to find the corners, and then draw them on the image with cvDrawChessboardCorners. "If all the corners are successfully identified, the corners are added to image_points and object_points for later use in calibration. After all the different orientations are successfully stored (orientations are arbitrary but should have a variety of views to solve for the camera parameters), then cvCalibrateCamera2 is used to get the camera parameters.Lastly, cvInitUndistoryMap is used with cvRemap to unwarp the camera images. "

Example of the algorithm

3D CV-t debuger :)

2011-11-07T17:54:00.000+02:00

We are in the process of developing application for testing implementations of recognition methods

The development plan:
1) Implement the ability to view video in 3D scene. [done]
2) The free movement in a 3d scene. [done]
3) The process of video playback [done]
4) User can load functions (software modules) for detection (which are used for video playback). [in process]

KinectFusion: Real-Time Dense Surface Mapping and Tracking

2011-11-07T17:19:00.000+02:00

Kinect is a motion sensing input device by Microsoft for the Xbox 360 video game console. Based around a webcam-style add-on peripheral for the Xbox 360 console, it enables users to control and interact with the Xbox 360 without the need to touch a game controller, through a natural user interface using gestures and spoken commands.

Microsoft KinectFusion software provides real-time to recover 3D scene based on data from the Kinect to perform segmentation and tracking of objects.

Kinect is based on software technology developed internally by Rare, a subsidiary of Microsoft Game Studios owned by Microsoft, and on range camera technology * by Israeli developer PrimeSense, which developed a system that can interpret specific gestures, making completely hands-free control of electronicdevices possible by using an infrared projector and camera and a special microchip to track the movement of objects and individuals in three dimension. This 3D scanner system called Light Coding employs a variant of image-based 3D reconstruction.

The Kinect sensor is a horizontal bar connected to a small base with a motorized pivot and is designed to be positioned lengthwise above or below the video display. The device features an "RGB camera, depth sensor and multi-array microphone running proprietary software", which provide full-body 3D motion capture, facial recognition and voice recognition capabilities.

The depth sensor consists of an infrared laser projector combined with a monochrome CMOS sensor, which captures video data in 3D under any ambient light conditions. The sensing range of the depth sensor is adjustable, and the Kinect software is capable of automatically calibrating the sensor based on gameplay and the player's physical environment, accommodating for the presence of furniture or other obstacles.

* Range imaging is the name for a collection of techniques which are used to produce a 2D image showing the distance to points in a scene from a specific point, normally associated with some type of sensor device.The resulting image, the range image, has pixel values which correspond to the distance, eg, brighter values mean shorter distance, or vice versa.

Kinect Localization and Mapping(2)

Kinect Localization and Mapping(3)

Shooting Kinect by HDR-XR500(Nightshot mode)

Installing and Using the Kinect Sensor (Kinect Windows SDK)

Automatic Reconstruction of Personalized Avatars from 3D Face Scans

Searching pairs of identical key points

2011-11-07T15:49:00.000+02:00

The problem of searching pairs of identical key points on two images has been solved with using of algorithm that performs a simple search and comparison of elements of descriptors arrays.

The same problem has been realized with using of FLANN library in OpenCV.

Congratulations!

2011-10-17T12:26:00.000+03:00

We congratulate the Odessa office of the Luxoft with 5th anniversary! The company has arranged a very good entertainment for your program's staff - drift show and corporate event. Here are some photos from the event:

We wish the company's growth and prosperity in all her endeavors! We are proud that we are working with such wonderful people!
Thank you for reading our blog!

The long-awaited meeting!

2011-10-05T15:17:00.000+03:00

Vice President Eastern Europe at Luxoft Dmitry Kushnir has visited us today!

We have shown him the results our our work. We tried very hard to show him, that we are really good programmers.
We hope, he really like it!

Training for students!

2011-09-22T14:27:00.000+03:00

Now we are training our students. We read lectures about the syntax of programming languages such as C++, the correctness of the construction of algorithms and the structure of Linux-based systems. We hope that this will be useful to us and them in their future work!
The first training will be held on the construction of algorithms on September 22. The second training in Linux will be next week, stay tuned!
Thank you to join us!

CVt